version: 66.09
glider: 143
mission: 13
dive: 2058
start: 1 17 112 9 11 57
data:
$ID,143
$MISSION,13
$DIVE,2058
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,501.14789
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-256262.11
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,20
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.40402
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,170112,045624,6136.800,-6029.552,181,99.0,181,-28.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-41.5
$GPS2,170112,045624,6136.800,-6029.552,181,99.0,181,-28.5
$SPEED_LIMITS,0.159,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6136.800,-6006.837
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,73.5,20000,-27.7,-9.167
$D_GRID,974
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.96,-55.4,0.0,0.0,0,145,0.00,0.00,-120.78,0.000,2,0.000,0.000,119,2518,2518,0,0,0,0,0,0
$GC,152,-1.04,-121.7,10.5,0.0,2,174,8.35,1.10,-7.38,0.000,4,0.248,0.063,2053,3234,2985,0,0,0,0,0,0
$GC,229,-1.04,-121.7,32.8,-30.4,3,233,0.00,1.20,0.00,0.000,6,0.000,0.055,2053,2520,2988,0,0,0,0,0,0
$GC,890,-1.04,-121.7,100.6,-10.1,14,893,0.00,1.17,0.00,0.000,4,0.000,0.062,2053,1809,2988,0,0,0,0,0,0
$GC,1098,-1.04,-121.7,120.4,-10.1,17,1102,0.00,1.15,0.00,0.000,6,0.000,0.040,2053,2507,2987,0,0,0,0,0,0
$GC,1766,-1.04,-121.7,194.2,-11.1,28,1770,0.00,1.08,0.00,0.000,4,0.000,0.052,2053,3206,2987,0,0,0,0,0,0
$GC,1984,-1.04,-121.7,218.4,-12.0,31,1988,0.00,1.17,0.00,0.000,6,0.000,0.054,2053,2507,2987,0,0,0,0,0,0
$GC,2639,-1.04,-121.7,305.6,-13.5,42,2643,0.00,1.15,0.00,0.000,4,0.000,0.060,2055,1806,2988,0,0,0,0,0,0
$GC,2898,-1.04,-121.7,329.5,-12.2,45,2905,0.00,1.15,0.00,0.000,6,0.000,0.039,2055,2511,2989,0,0,0,0,0,0
$GC,3513,-1.04,-121.7,404.5,-11.4,56,3517,0.00,1.08,0.00,0.000,4,0.000,0.050,2055,3213,2991,0,0,0,0,0,0
$GC,3772,-1.04,-121.7,428.5,-11.9,59,3779,0.00,1.17,0.00,0.000,6,0.000,0.051,2055,2500,2992,0,0,0,0,0,0
$GC,4388,-1.04,-121.7,504.2,-11.4,70,4391,0.00,1.15,0.00,0.000,4,0.000,0.059,2055,1800,2992,0,0,0,0,0,0
$GC,4646,-1.04,-121.7,526.0,-11.0,73,4653,0.00,1.15,0.00,0.000,6,0.000,0.037,2055,2512,2993,0,0,0,0,0,0
$GC,5261,-1.04,-121.7,599.6,-11.2,84,5264,0.00,1.08,0.00,0.000,4,0.000,0.049,2055,3214,2994,0,0,0,0,0,0
$GC,5518,-1.04,-121.7,623.0,-11.5,87,5525,0.00,1.15,0.00,0.000,6,0.000,0.048,2055,2510,2994,0,0,0,0,0,0
$GC,6133,-1.04,-121.7,698.1,-11.3,98,6136,0.00,1.15,0.00,0.000,4,0.000,0.057,2058,1803,2995,0,0,0,0,0,0
$GC,6390,-1.04,-121.7,720.4,-11.2,101,6397,0.00,1.15,0.00,0.000,6,0.000,0.035,2058,2518,2995,0,0,0,0,0,0
$GC,7006,-1.04,-121.7,806.4,-13.2,112,7009,0.00,1.05,0.00,0.000,4,0.000,0.048,2057,3209,2996,0,0,0,0,0,0
$GC,7264,-1.04,-121.7,832.6,-13.0,115,7271,0.00,1.15,0.00,0.000,6,0.000,0.049,2058,2511,2995,0,0,0,0,0,0
$GC,7879,-1.04,-121.7,917.0,-12.7,126,7883,0.00,1.15,0.00,0.000,4,0.000,0.057,2058,1803,2996,0,0,0,0,0,0
$GC,8067,-1.04,-121.7,932.3,-11.8,128,8071,0.00,1.15,0.00,0.000,6,0.000,0.036,2058,2512,2996,0,0,0,0,0,0
$STATE,8381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8382,begin apogee
$GC,8391,-0.16,0.0,975.1,-11.3,134,8505,0.75,0.00,108.80,1.459,6,0.039,0.000,2370,2196,2484,0,0,0,0,0,0
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8510,begin climb
$GC,8514,1.04,121.7,982.0,0.0,135,8639,1.02,1.33,115.65,1.414,4,0.038,0.036,2749,2902,1988,0,0,0,0,0,0
$GC,8708,1.29,323.4,1013.8,-13.2,138,8906,0.15,1.27,191.23,1.404,6,0.054,0.047,2812,2204,1165,0,0,0,0,0,0
$GC,9562,1.29,323.4,851.6,23.4,152,9566,0.00,1.15,0.00,0.000,4,0.000,0.045,2812,2892,1159,0,0,0,0,0,0
$GC,9700,1.29,323.4,820.6,23.1,154,9704,0.00,1.17,0.00,0.000,6,0.000,0.045,2817,2194,1160,0,0,0,0,0,0
$GC,10368,1.29,323.4,666.3,22.5,165,10372,0.00,1.17,0.00,0.000,4,0.000,0.045,2817,2900,1159,0,0,0,0,0,0
$GC,10447,1.29,323.4,651.2,22.4,166,10451,0.00,1.17,0.00,0.000,6,0.000,0.044,2822,2195,1158,0,0,0,0,0,0
$GC,11109,1.29,323.4,497.0,23.0,177,11114,0.00,1.17,0.00,0.000,4,0.000,0.046,2822,2900,1158,0,0,0,0,0,0
$GC,11181,1.29,323.4,480.8,23.2,178,11185,0.00,1.17,0.00,0.000,6,0.000,0.044,2826,2194,1159,0,0,0,0,0,0
$GC,11848,1.29,323.4,323.6,23.5,189,11852,0.00,1.17,0.00,0.000,4,0.000,0.044,2826,2906,1159,0,0,0,0,0,0
$GC,11941,1.29,323.4,306.9,24.1,190,11944,0.00,1.17,0.00,0.000,6,0.000,0.044,2830,2196,1159,0,0,0,0,0,0
$GC,12591,1.29,323.4,152.9,21.8,201,12595,0.00,1.15,0.00,0.000,4,0.000,0.044,2830,2896,1158,0,0,0,0,0,0
$GC,12684,1.29,323.4,138.2,21.5,202,12687,0.00,1.15,0.00,0.000,6,0.000,0.043,2835,2198,1159,0,0,0,0,0,0
$GC,13332,1.29,323.4,13.7,17.8,213,13335,0.00,1.08,0.00,0.000,4,0.000,0.054,2840,1496,1159,0,0,0,0,0,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,3.65,-1.534,-1.822,2,2,0
$FREEZE,1.44,-1.607,-1.824,2,2,0
$STATE,13464,end climb,SURFACE_DEPTH_REACHED
$STATE,13464,begin surface coast
$FREEZE,1.44,-1.607,-1.824,2,2,0
$FINISH,1.4,1.026757
$STATE,13468,end surface coast,CONTROL_FINISHED_OK
$STATE,13468,begin surface
$SM_CCo,13491,82.32,0.076,0,0,441,501.15
$SM_GC,2.02,7.88,1.65,82.32,0.083,0.034,0.076,119,2521,441,-7.06,-0.93,501.15,0,0,0,0,0,0
$RAFOS_CLK,965
$RAFOS,6,1326804541,12.833333,12.816944,67,60,53,0,0,0,201,222,139,0,0,0
$RAFOS,5,1326804101,12.700000,12.694722,65,63,57,0,0,0,180,190,147,0,0,0
$RAFOS,4,1326803616,12.566667,12.560000,65,59,56,0,0,0,183,167,147,0,0,0
$RAFOS,3,1326803119,12.433333,12.421945,57,53,53,0,0,0,162,139,196,0,0,0
$RAFOS,2,1326802629,12.300000,12.285833,59,54,53,0,0,0,208,151,178,0,0,0
$RAFOS,1,1326802196,12.166667,12.165556,63,52,52,0,0,0,213,179,226,0,0,0
$RAFOS,0,1326801699,12.033333,12.027500,60,53,53,0,0,0,156,204,236,0,0,0
$RAFOS,5,1326789667,8.700000,8.685278,69,56,55,0,0,0,205,154,174,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6112.75,-6029.90,170112,040409
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.57
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,13.7,11.5
$24V_AH,22.0,45.463
$10V_AH,10.1,63.226
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.150,40.325,415.675,82.325,0.000,0.000,0.000,125.275,4.500,0.000,181.845,896.057,10997.440,555.389,1433.086,426.386,0.000,1337.951,0.000,1102.423,2520.000,27.355,0.000
$DEVICE_MAMPS,247.860,62.730,1458.855,75.735,0.000,0.000,0.000,201.495,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270424
$DATA_FILE_SIZE,6852,215
$CAP_FILE_SIZE,84986,0
$CFSIZE,260165632,209534976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1475.0
$CURRENT,0.694,161.7,1
$GPS,170112,125935,6135.049,-6026.954,29,0.8,30,-28.5